69 results about "Celestial sphere" patented technology

The invention discloses a global enhancement method for a wide-area astronomical image. The method comprises the following steps: carrying out high-frame-frequency image acquisition on a starry sky area; converting the reference star from a star catalogue position to an observation position, and resolving a linear negative film model; geometric distortion correction is carried out based on the resolving result; based on the image after geometric distortion correction, matching and identifying a reference star in a full view field, and obtaining celestial coordinate information of all fixed star images in the view field; on the basis of celestial coordinate information, correcting a poorer astronomical effect of the astronomical image, establishing an ideal coordinate system taking the center of a view field as a tangency point, and projecting a time sequence observation image to the ideal coordinate system; translating the processed graph, accumulating all translated images, and averaging all accumulated pixel positions to realize image superposition enhancement, thereby effectively improving the dynamic range of a detector and the detection capability of a wide-area astronomical observation system; and meanwhile, the signal-to-noise ratio of the astronomical image can be effectively improved, and the astronomical image centering and light measuring precision can be further improved.

The invention provides a star catalogue file generation method and device, a celestial body data query method and device, computer equipment and a storage medium. The star catalogue file generation method comprises the steps of obtaining star catalogue data; dividing the celestial sphere surface area corresponding to the plurality of celestial bodies into a plurality of local areas, and determining an identifier of each local area; determining an identifier matched with each celestial body data according to the right ascension and declination included in the celestial body data and the identifier of each local area in the celestial sphere surface area; sorting the celestial body data of the plurality of celestial bodies based on the identifiers corresponding to the celestial body data; and writing the sequenced celestial body data of the plurality of celestial bodies into an initial column storage file matched with the identifier to obtain a target file stored with the celestial body data, and generating file index information corresponding to the target file. The celestial body data is stored by utilizing the column type storage file, so that the problems of high maintenance cost and high use threshold caused by utilizing a database to store data are relieved while the data query efficiency is guaranteed.

The invention relates to a space far-field time-sensitive target optical data set generation method, in particular to a high-fidelity space far-field time-sensitive target optical data set generation method, and solves the technical problem of lack of a far-field time-sensitive target optical data set rapid generation method with complete label information in a space complex environment at present. The method comprises the following steps: firstly, establishing a space camera imaging model for converting a fixed star from a celestial coordinate system to a space camera imaging coordinate system, then respectively carrying out coordinate conversion and star magnitude-to-gray scale conversion on the fixed star in a view field of the space camera according to a navigation star catalogue, and displaying on a display to obtain an ideal background star map. Meanwhile, a simulation image of the time-sensitive target is obtained according to the same method, light path tracking is carried out on the simulation image, and an initial simulation image including the position and brightness characteristics of the time-sensitive target is obtained. And then simulating the noise in imaging, and fusing the ideal background star map, the noise and the initial simulation image to realize the generation of the high-fidelity space far-field time-sensitive target optical image.

The invention provides a radar and optical observation segmental arc correlation method and system for space debris. A joint probability density function is obtained through a kernel density estimation algorithm. A radar observation arc section and an optical observation arc section are input. And converting the observation data into a geocentric celestial coordinate system. And acquiring system parameters of the observation equipment. Radar observation data and optical observation data are unified to the same dimension, and a distance measurement value weight and an angle measurement value weight are set. And calculating an initial orbit by the radar observation arc section. And calculating a joint objective function corresponding to the current orbit position speed. And if the convergence condition is met, outputting the minimum value of the joint objective function and the orbit position speed corresponding to the minimum value. Otherwise, updating the track position speed, and repeating until the convergence condition is met. And according to the minimum value of the joint objective function and the joint probability density function, judging whether association is carried out, and outputting confidence during association. The method is easy to implement and can be effectively applied to association of the space debris radar and the optical observation arc section.

The invention discloses an astronomical cross identification method based on spherical trapezoidal division, and the method comprises the steps: S1, taking a unit spherical surface as a celestial sphere, dividing the celestial sphere into a plurality of strips parallel to an equatorial line, and determining the right ascension span of each strip for the transverse segmentation of the strip; s2, dividing each strip into a same spherical isosceles trapezoid with two waists perpendicular to the equator, and taking the same spherical isosceles trapezoid as a sky area; s3, determining an index of each sky area; s4, dividing a star catalogue A and a star catalogue B, and creating a zipper type hash table based on the row number of the star catalogue B; s5, mapping each celestial body in the star catalogue B into a linked list in a hash table in a multi-thread parallel mode, and inserting celestial body data into the linked list by means of a two-stage insertion strategy; s6, mapping each celestial body in the star catalogue A into a linked list in a group of hash tables in a multi-thread parallel mode, and traversing to obtain celestial body IDs of which the spherical distance is smaller than the error radius; the method not only can completely avoid the problem of result omission, but also can greatly improve the astronomical cross identification calculation performance.

The invention provides a space debris angle-measurement-only short-arc rapid initial orbit determination method and a space debris angle-measurement-only short-arc rapid initial orbit determination system. The method comprises the following steps: S1, acquiring space debris angle-only segmental arc observation data; and S2, performing polynomial fitting on the observation data. And S3, calculating the pointing vector of the space debris relative to the observation station in the J2000 geocentric celestial coordinate system at the midpoint moment of the arc section. And S4, calculating the change rate of the pointing vector at the midpoint moment of the arc section. And S5, determining the distance at the midpoint moment of the arc section and the initial value of the distance change rate. And S6, calculating an objective function corresponding to the initial value. Step S7, if the target function does not reach the convergence condition, calculating a target function gradient corresponding to the current distance and the distance variation rate, updating the current distance and the distance variation rate, and executing steps S6 to S7; and if the target function reaches the convergence condition, calculating the corresponding position and speed. The implementation process is simple and easy to implement, and the method can be effectively applied to the space debris angle-only short arc initial orbit.

The invention provides an astronomical positioning navigation method based on optical observation, which comprises the following steps: screening and sorting observation targets to be observed according to initial conditions of a platform and ephemeris of the observation targets to serve as an observation task list; driving the optical telescope to steer and collect observation images according to the observation task list; matching astronomical images in the observation image with a fixed star catalogue so as to calculate observed celestial coordinates of each astronomical image; extracting a moving target as an observation target through star change of the multiple frames of observation images, and obtaining a motion track of the observation target; and carrying out platform position calculation. According to the astronomical positioning and navigation method disclosed by the invention, the attitude and position calculation of the platform is completed by integrating optical observation data of a fixed star and an observation target, and the autonomous navigation and positioning of the platform under the condition of no GNSS signal are realized.

This disclosure provides a method for segmenting a star catalog. The method includes: acquiring a target star catalog file corresponding to a target celestial sphere, the target star catalog file including observation data of M celestial bodies in the target celestial sphere; dividing the target celestial sphere into N sub-regions and N region numbers corresponding to the N sub-regions based on a predetermined maximum segmentation level K; determining the number of celestial bodies in each region represented by each of the N region numbers based on the observation data of the M celestial bodies in the target star catalog file, obtaining a result determining the number of N celestial bodies; and segmenting the target star catalog file according to the matching result between the result determining the number of N celestial bodies and a predetermined segmentation threshold T, determining multiple star catalog subset files corresponding to the target star catalog file. This disclosure also provides an apparatus, device, and storage medium for segmenting star catalogs.

The present invention relates to the field of satellite communication technology, and particularly to a satellite routing method based on dynamic celestial sphere region division. The method includes: dividing multiple nodes by using a clustering algorithm to obtain multiple virtual regions with load balance; optimizing the multiple virtual regions by using a local flooding optimization strategy to generate a preset propagation range of data packets; predicting the delay and congestion conditions of the links in the preset propagation range by using a recurrent neural network model according to historical link delay data, and dynamically adjusting the path selection and traffic allocation strategies based on the prediction results; calculating the additional delay of each path based on the delay and load conditions of different paths in the path selection and traffic allocation strategies, and calculating the traffic to be allocated for each path based on the additional delay. Thereby, the communication bottleneck problems such as network delay and increased packet loss rate caused by the dynamic changes of the network in low-earth orbit satellites and the Internet of Things are solved, and the efficient operation of the network in a dynamic environment is realized.

The invention belongs to the technical field of industrial automation, and particularly relates to a Healpix-based star catalogue homogenization segmentation and evaluation method. The method comprises the following steps: S1, acquiring original star catalogue data, and determining Healpix grid level parameters based on an expected subdivision degree of a user; s2, calculating a Healpix pixel index number of each celestial body by adopting a Healpix algorithm based on celestial sphere coordinates of each celestial body in a celestial sphere equator coordinate system contained in the original star catalogue data; s3, constructing a blank star catalogue, and constructing a homogenized star catalogue based on the celestial body set extracted by the sampling strategy and the Healpix pixel index number corresponding to each celestial body contained in the celestial body set; and S4, constructing a Uscore evaluation model, performing Uscore scoring on the homogenized star catalogue by using the Uscore evaluation model, and evaluating the uniformity of each celestial body in the homogenized star catalogue based on the Uscore score. According to the invention, an objective and quantifiable comparison reference is provided for the effects of different homogenization methods.

This application relates to the field of orbital dynamics design and simulation technology, and provides a method and apparatus for free transformation between spatial coordinate systems for solar system spacecraft design and simulation. This method transforms the position and velocity of different coordinate systems to the celestial coordinate system for origin transformation, and then rotates to the target coordinate system. This allows position and velocity to be arbitrarily transformed between coordinate systems included in the coordinate transformation model library. Furthermore, when expanding to a new coordinate system, only the transformation function between the new coordinate system and the co-centered celestial coordinate system is needed, without having to calculate the transformation functions between the new coordinate system and all other coordinate systems separately. This achieves effective organization of scattered coordinate system transformation relationships, facilitating the design and simulation of spacecraft missions and reducing the workload generated by transformations between multiple spatial coordinate systems.

Methods and apparatus for specular surface mapping in which a camera detects reflections of a light source from a specular surface. The detected light sources may be projected onto a celestial sphere as virtual point sources. True positive observations should be tightly clustered on the celestial sphere; thus, false positives may be identified and removed. Specular surface information may then be determined from clusters of the virtual point sources on the celestial sphere. The clusters of virtual point sources on the celestial sphere may be identified and used to identify a surface as a specular surface. The clusters may also be used to extract other information regarding the specular surface, including but not limited to distance to and extent of the specular surface.

The invention provides an autonomous visual navigation method for on-orbit remote identification and target tracking of a satellite. The method comprises the following steps: acquiring an original image observation star point position; extracting a navigation star library in a view field range according to the camera optical axis direction and the camera view field; constructing an observation triangle by using the observation star points, and calculating angular distance information between the observation star points; searching the angular distance of the navigation star triangle in the star database, matching the angular distance with the angular distance information of the observation triangle, determining an observation star point, and calculating an attitude conversion matrix between the celestial coordinate system and the camera coordinate system; according to the matrix, back-projecting star points in the star catalogue into the spacecraft image, and matching and deleting the star points; performing continuous multi-frame target detection to determine a spacecraft target; the method comprises the following steps: acquiring a mass center position of a target in a spacecraft image, solving an azimuth angle and a pitch angle of a current spacecraft in a celestial body, performing navigation positioning on the spacecraft target, realizing remote point target tracking, and performing back projection verification on the image in the tracking process.

This invention discloses a method and system for space target detection and self-calibration photometry in spaceborne star field imaging. The method includes the following steps: acquiring the raw telemetry data stream from the satellite in spaceborne star field imaging mode, and reconstructing a two-dimensional raw image sequence; performing self-calibration radiometric correction, background noise modeling, multi-frame registration, source parameter extraction, and space target discrimination on the raw image sequence to obtain the corresponding stellar background, space targets, and single-frame artifacts; constructing a standard star candidate set and fitting a mapping model from standard star pixel coordinates to celestial coordinates; converting the pixel coordinates of the space target to the corresponding celestial coordinates; performing photometric zero-point fitting and space target photometry operations; and outputting structured space target observation results. This invention relates to the field of space target observation technology. By introducing multi-frame self-calibration radiometric correction, inter-frame geometric registration and multi-frame consistency discrimination, and robust photometric zero-point fitting, reliable observation of spaceborne space targets is achieved.

The application provides a simplified attitude distribution cooperative control method for a directed communication leader-follower spacecraft formation, which comprises the following steps: firstly, describing the simplified attitude motion of the spacecraft in a unit celestial coordinate system, and converting the simplified attitude motion into a translation of the terminal point of a pointing vector on a unit celestial sphere; secondly, designing a distributed cooperative virtual control quantity under a directed communication topology according to the consistency theory, so as to ensure that the pointing vector of the follower spacecraft converges to a fixed pointing direction in the inertial space determined by the pointing vector of the leader spacecraft, and then calculating an ideal angular velocity vector of the follower spacecraft according to the virtual control quantity; thirdly, taking the difference between the angular velocity vector of the follower spacecraft and the ideal angular velocity vector as a sliding mode variable, and designing a sliding mode surface; and finally, designing a distributed cooperative control law for the follower spacecraft based on a super-twisting second-order sliding mode control method. The application can ensure that the pointing vector of the follower spacecraft in the directed communication formation converges to the pointing vector of the leader spacecraft fixed in the inertial space under a disturbance environment, and reduces the communication amount of the formation.

A solar apparent motion demonstration instrument relates to a teaching demonstration appliance. The instrument can visually demonstrate the sun apparent motion trail and the sunrise and sunset moments on the earth at any latitude and any day. The instrument is composed of a support, a celestial sphere shell, a horizon circle hemisphere shell and a horizon observation time measuring ring. The horizon ring hemisphere shell is arranged in the celestial sphere shell, and the celestial sphere shell and the observation horizon time measuring ring are arranged on the bracket; the celestial sphere shell is a transparent hollow sphere; the horizon ring hemisphere shell is a transparent hollow hemisphere, and the large circular surface of the horizon ring hemisphere shell represents the horizon ring; a small amount of water is injected into the celestial sphere shell, and the horizon ring hemisphere shell is placed into the celestial sphere shell, so that the horizon ring hemisphere shell floats; the celestial sphere shell is connected with the upper end point and the lower end point of the support round frame through rotating shafts. And the observation ground time measuring rings are fixed on two sides of the support circular frame. The vertical rotation instrument can change the geographic latitude of an observer, and the transverse rotation instrument can simulate the weekly-day apparent motion of the sun.

The invention relates to a method (PREF) for referencing at least one artificial satellite (SAT) in a star catalogue (CTG), comprising a step of positioning at least one star projected onto a celestial sphere (SC). The method comprises: a step (E10) of obtaining coordinates (Oqd,) of an observed position of the at least one artificial satellite (SAT) and orbit parameters (TLE) of the at least one artificial satellite (SAT); a step (E50) of projecting the satellite (SAT) onto the celestial sphere (SC) in a viewing direction determined from the orbital parameter (TLE) and the observation position; -a step (E80) of recording the coordinates of the satellites (SAT) projected onto the celestial sphere (CS) into the star catalogue (CTG), in which the coordinates of the fixed star and of the at least one artificial satellite (SAT) are expressed in the same geocentric reference frame, referred to as fixed star catalogue reference frame.

This invention belongs to the field of industrial automation technology, and particularly relates to a method for uniform segmentation and evaluation of star catalogs based on Healpix. The method includes: S1: acquiring original star catalog data and determining the Healpix grid level parameters based on the user's desired subdivision level; S2: calculating the Healpix pixel index number of each celestial body in the original star catalog data using the Healpix algorithm, based on the celestial coordinates of each celestial body in the celestial equatorial coordinate system; S3: constructing a blank star catalog and building a uniform star catalog based on the set of celestial bodies extracted by a sampling strategy and the corresponding Healpix pixel index numbers of each celestial body contained in the set; S4: constructing a U_score evaluation model and using the U_score evaluation model to score the uniform star catalog, and evaluating the uniformity of each celestial body in the uniform star catalog based on the U_score score. This invention provides an objective and quantifiable benchmark for comparing the effects of different uniformization methods.

A method for target attitude planning of a multi-field-of-view star observation satellite, comprising: Step 1, obtaining the season or month when the satellite conducts star observation, the satellite orbit altitude, and the stray light suppression angle of the imaging optical device; Step 2, giving the optional sky areas of each optical device according to the projection relationship between the optional fields of view of the optical device and the observable sky area; Step 3, selecting a set of observation points according to the star distribution in the optional sky area, obtaining the pointing of each optical device in the celestial coordinate system under this observation point, judging whether it is in its available sky area, and deleting the unavailable observation points; Step 4, counting the number of stars in the camera field of view under the available observation points and optimizing the available observation points; Step 5, repeating Steps 3 and 4 until a satisfactory set of observation points is found, and outputting the right ascension and declination of the optimal observation point and the satellite attitude transformation matrix. The present invention provides an ideal observation sky area and target attitude for remote sensing satellites and astronomical observation satellites when performing multi-field-of-view star imaging.

The invention belongs to the technical field of astronomical science popularization, and discloses an astronomical science popularization explanation device, which controls the movement of a telescope through a motor to ensure that the telescope can position and observe a target celestial body; the motor driving system ensures that the telescope can execute pointing and tracking according to user requirements; the laser indication system adopts a high-speed horizon theodolite design, is provided with a variable-color laser and is used for indicating a target celestial body in real time according to the output of the knowledge explanation system; the embedded hardware system comprises a master controller, a motor driver, a sensor and the like, and is responsible for overall operation and control of the device; the invention ensures the safe and reliable operation of the system. The laser transmitter provides a clear and stable laser beam, and the pointing mechanism can perform accurate adjustment, so that the laser beam is aligned with a target celestial body. And the celestial navigation and positioning module continuously updates the understanding of the system on the celestial sphere to realize the real-time tracking of the moving celestial body. And the safety protection mechanism protects the user and the equipment from potential hazards possibly caused by laser use.

The application discloses a kind of scientific research data analysis platform for fast radio burst, including data management module: for the structured, standardized, standardization management fast radio burst related scientific research data;Fast radio burst searching module: for searching fast radio burst in radio telescope observation data, and intercept fast radio burst sample storage in database;Fast radio burst sample analysis module: based on astronomical data analysis algorithm component, fast radio burst sample is in-depth analyzed, and analysis result is transmitted to visual module;Visual module: based on real galaxy distribution constructs 3D celestial sphere model, and fast radio burst data and analysis result are shown on the corresponding position of celestial sphere model.The application provides fast radio burst data acquisition, management and sharing function, constructs rich standardization data analysis capability, realizes analysis result visualization, greatly improves data acquisition and analysis efficiency, promotes astronomical achievement sharing, accelerates scientific research achievement output.

1. Name of the product in this design: Digital Planetarium (Hun Tian Xin Yun). 2. Intended use of this design: for use in buildings. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key features: the front view. 5. The bottom surface of this product is a part that is not easily seen or cannot be seen during use, so the bottom view is omitted.

The application relates to a space target local retrieval and identification method, and belongs to the cross field of space situation awareness, space dynamics and high-performance databases. The steps comprise the following steps: multi-source TLE orbit data and service attribute fusion pretreatment; multi-feature fusion dynamic decision tree adaptive time step allocation based on orbit period, eccentricity and task type; the HEALPix equal-area celestial sphere gridding algorithm is introduced to reduce the three-dimensional continuous observation space to a discrete one-dimensional grid identifier, and a lightweight space-time key-value pair is reconstructed in combination with discrete time slicing; a high-concurrency space-time inverted index is reconstructed by multi-process lock-free sandbox streaming writing and database kernel-level aggregation deduplication; a fast initial screening of candidate targets is realized by constructing an anti-time-space aliasing dynamic safety margin expansion search area; and high-precision target accurate matching identification. The application realizes fast retrieval and high-confidence identification of a large number of space targets with a constant-level time complexity, and significantly improves the real-time response capability of a space situation awareness system.

To provide a display control device that enables even a user who shares a three-dimensional virtual space using a device equipped with a two-dimensional display to place shared contents at an intended position in the virtual space.SOLUTION: A determination unit 313 determines, on the basis of first identification information II1, whether a first terminal device 10 displays a two-dimensional image or a three-dimensional image. A first display control unit 314, when the determination unit 313 determines that the first terminal device 10 displays the two-dimensional image, causes the first terminal device 10 to display a planar celestial sphere image PCI where a portion of a celestial sphere CS of a virtual space VS is represented in a planar manner.SELECTED DRAWING: Figure 13

The invention discloses a non-fixed star target identification method in large-field-of-view celestial body measurement, which comprises the following steps: preprocessing an acquired observation image, carrying out star image detection, and counting star image areas; based on the pointing information of the observation image and the space field angle of the observation system field of view, reading a reference star catalogue of a specified sky area, and converting the celestial coordinates to earth fixed coordinates; converting the earth-fixed coordinates of the reference star to the measurement coordinates of an image plane based on a cardiographic projection model; converting earth-fixed coordinates of all reference stars, and constructing a temporary navigation star catalogue measurement coordinate library; setting a matching threshold value, traversing all monitored astronomical images in the observation image, matching with a temporary navigation star catalogue measurement coordinate library, taking the astronomical images smaller than the threshold value as candidate matching objects, reserving astronomical images of which the candidate matching objects are 0, and outputting data corresponding to the astronomical images; and non-fixed star celestial bodies are effectively screened out, so that the number of targets participating in track correlation calculation is remarkably reduced.

The invention provides a method, system and medium for satellite orbit extrapolation through GPU acceleration, and the method comprises the steps: generating a plurality of satellite initial orbits according to an STK simulation scene, and enabling the satellite initial orbits to be used for the initial orbit input of each thread of the GPU acceleration orbit extrapolation; constructing a mechanical model of the satellite and a motion differential equation of the satellite according to the motion characteristics of the satellite; loading the initial orbit data of each satellite, the mechanical model data and the time-space conversion parameter data to a GPU; unifying a space-time system of an initial orbit epoch and a mechanical model, converting coordinated world time into centroid dynamics, and converting the space system into a geocentric celestial coordinate system; constructing a global function by utilizing CUDA (Compute Unified Device Architecture), and transmitting a parallel computing task to a task calling unit of a GPU (Graphics Processing Unit) by utilizing the global function; and loading the orbit calculated by the task calling unit in the GPU into the CPU, and carrying out overlapping comparison on the orbit and the orbit of each satellite in the STK. The method can meet the processing requirements of a large number of satellites and mass orbit measurement data.

The invention discloses a false star filtering and star map recognition method based on multi-sky-area parallelism, which is applied to autonomous attitude determination of a star sensor and comprises the following steps: constructing a multi-sky-area parallelism index database of a whole celestial sphere, dividing a whole celestial sphere space represented by a unit spherical surface, and generating a plurality of candidate sky-area sets which cover the whole celestial sphere and are allowed to be overlapped with one another; the method for extracting star pattern features based on the discretized radial angular distance comprises the following steps: extracting position parameter information of observation star points based on star map data acquired by a star sensor, and constructing a radial feature vector for representing a local spatial distribution relationship of fixed stars for each observation star point in a star map; performing feature matching of the multi-day-area parallel star mode feature vectors, and calculating a matching evaluation index based on the feature matching; and a final star map recognition result is obtained based on iterative screening recognition and false star elimination. And outputting a final star map recognition result for subsequent attitude calculation. The invention further discloses a corresponding system, electronic equipment and a computer readable storage medium.

The invention provides a direction adjustment assembly, imaging equipment and a polar axis alignment method, and relates to the field of astronomical photography. The direction adjusting assembly comprises an azimuth angle adjusting mechanism and an elevating angle adjusting mechanism. The first end of the azimuth angle adjusting mechanism is connected with the second end of the elevation angle adjusting mechanism; the second end of the azimuth angle adjusting mechanism is connected with the supporting mechanism; the first end of the elevating angle adjusting mechanism is connected with the celestial sphere pointing adjusting device; the azimuth angle adjusting mechanism and the elevating angle adjusting mechanism are configured to drive the celestial sphere to point to the target rotating shaft of the adjusting device to move based on the movement of the azimuth angle adjusting mechanism in the azimuth angle direction and the movement of the elevating angle adjusting mechanism in the elevating angle direction. By using the orientation adjusting assembly provided by the embodiment of the invention, the azimuth angle and the elevation angle of the celestial sphere orientation adjusting device of the imaging equipment can be adjusted through the cooperation of the azimuth angle adjusting mechanism and the elevation angle adjusting mechanism, and the automatic and efficient epipolar axis of the celestial sphere orientation adjusting device is realized.

This invention relates to an on-orbit calibration method for the micro-variations of intrinsic parameters of a high-precision star sensor optical system, belonging to the field of high-precision on-orbit calibration technology for spacecraft. First, using the ground-calibrated intrinsic parameters of the optical system as initial values, the relationship between various coordinate systems and the angular distance model of the star sensor points is combined to establish the equality between the angle of the direction vector in the star sensor camera coordinate system and the angle of the navigation star in the celestial coordinate system. Then, based on this, and considering the characteristic that the angular distance between observed stars and the angular distance of the navigation star remain unchanged after environmental changes, a calibration model for the micro-variations of the intrinsic parameters of the star sensor optical system used in this invention is established. Finally, the extended Kalman filter (EKF) algorithm is used to calibrate the micro-variations of the intrinsic parameters of the optical system. After the micro-variation calibration is completed, the initial intrinsic parameter values ​​are added to obtain the intrinsic parameters of the optical system after environmental changes.

The utility model provides a device for simulating and drawing solar apparent moving tracks at different latitudes and different times, and belongs to the technical field of teaching aids. The device comprises a bottom support, a lamp strip switch, the earth, a connecting shaft, a celestial sphere, a lamp strip, a declination circle, a sky, a sky support and a lighting mechanism, the lamp strip switch is installed on the bottom support, the earth is fixed in the celestial sphere through the connecting shaft, and the connecting shaft is connected with the connecting shaft. According to the equipment for simulating the moving tracks of the sun at different latitudes and different time, the moving tracks of the sun at different latitude positions can be conveniently described on the sky, abstract problems are visualized, students can conveniently observe the moving tracks of the sun, the students can conveniently learn and understand the content of the sun apparent motion, and the teaching efficiency is improved. Students can conveniently transfer and draw a three-dimensionally presented annual solar apparent motion track into a graph, further understand abstract knowledge of solar apparent motion, and improve the cosmic view of a learning concept.